/*
 * Copyright (c) 2017 Daniel Koch, James Jackson and Gary Ellingson, BYU MAGICC Lab.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 * * Redistributions of source code must retain the above copyright notice, this
 *   list of conditions and the following disclaimer.
 *
 * * Redistributions in binary form must reproduce the above copyright notice,
 *   this list of conditions and the following disclaimer in the documentation
 *   and/or other materials provided with the distribution.
 *
 * * Neither the name of the copyright holder nor the names of its
 *   contributors may be used to endorse or promote products derived from
 *   this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */

#ifndef ROSFLIGHT_SIM_FIXEDWING_FORCES_AND_MOMENTS_H
#define ROSFLIGHT_SIM_FIXEDWING_FORCES_AND_MOMENTS_H

#include <ros/ros.h>
#include <rosflight_sim/mav_forces_and_moments.h>
#include <eigen3/Eigen/Dense>

namespace rosflight_sim
{
class Fixedwing : public MAVForcesAndMoments
{
private:
  ros::NodeHandle* nh_;

  // physical parameters
  double mass_;
  double Jx_;
  double Jy_;
  double Jz_;
  double Jxz_;
  double rho_;

  // aerodynamic coefficients
  struct WingCoeff
  {
    double S;
    double b;
    double c;
    double M;
    double epsilon;
    double alpha0;
  } wing_;

  // Propeller Coefficients
  struct PropCoeff
  {
    double k_motor;
    double k_T_P;
    double k_Omega;
    double e;
    double S;
    double C;
  } prop_;

  // Lift Coefficients
  struct LiftCoeff
  {
    double O;
    double alpha;
    double beta;
    double p;
    double q;
    double r;
    double delta_a;
    double delta_e;
    double delta_r;
  };

  LiftCoeff CL_;
  LiftCoeff CD_;
  LiftCoeff Cm_;
  LiftCoeff CY_;
  LiftCoeff Cell_;
  LiftCoeff Cn_;

  // not constants
  // actuators
  struct Actuators
  {
    double e;
    double a;
    double r;
    double t;
  } delta_;

  // wind
  Eigen::Vector3d wind_;

public:
  Fixedwing(ros::NodeHandle* nh);
  ~Fixedwing();

  Eigen::Matrix<double, 6, 1> updateForcesAndTorques(Current_State x, const int act_cmds[]);
  void set_wind(Eigen::Vector3d wind);
};

} // namespace rosflight_sim

#endif // ROSFLIGHT_SIM_FIXEDWING_FORCES_AND_MOMENTS_H
